EP3494073A1

EP3494073A1 - Order-picking system

Info

Publication number: EP3494073A1
Application number: EP16754399.0A
Authority: EP
Inventors: Thomas Mattern; Michael Kluge
Original assignee: Liebherr Verzahntechnik GmbH
Current assignee: Liebherr Verzahntechnik GmbH
Priority date: 2016-08-04
Filing date: 2016-08-04
Publication date: 2019-06-12
Also published as: WO2018024311A1; US10926954B2; US20190185266A1

Abstract

The present invention relates to an order-picking system for order-related order-picking of goods stored in racks, with an automated order-picking cell which has a gripper for gripping and order-picking the goods and a cell controller for activating the gripper, with a transport system by means of which the racks can be conveyed to at least one order-picking position in the region of the order-picking cell, wherein the racks have shelves and/or containers, on and/or in which goods are stored, wherein at least one shelf and/or container of a rack arranged in the order-picking position can be conveyed from a storage position inside the rack into a removal position in which said shelf and/or container is at least partially arranged in front of the rack, wherein the gripper is activated by the cell controller in such a manner that said gripper grips the goods stored on the shelf and/or in the container while the shelf and/or container is at least partially arranged in front of the rack in the removal position.

Description

picking

The present invention relates to a picking system for order-related picking of goods, with an automated picking cell, which has a gripper for gripping and picking the goods and a cell control for controlling the gripper.

Initial attempts have already been made to use such a picking system to pick goods which are stored on a shelf. However, grippers usually have significant problems to safely remove goods from a shelf. If the goods are stored in containers on the shelf, the removal of a gripper is even more difficult due to the interference edges formed by the shelf.

Object of the present invention is therefore to provide a picking system for order-related picking stocked on shelves goods.

This object is achieved by a picking system according to claim 1. Preferred embodiments of the present invention are the subject of the subclaims. The present invention comprises a picking system for the order-related picking of goods stored on shelves, with an automated picking cell, which has a gripper for gripping and picking the goods and a cell control for controlling the gripper, and with a transport system, through which the shelves to at least one Order picking in the picking cell can be transported, the shelves shelves and / or containers, on and / or in which goods are stored. The order-picking system according to the invention is characterized in that at least one shelf and / or container of a arranged in the order picking shelf from a storage position within the shelf in a removal position in which it is at least partially disposed in front of the shelf, the gripper through the Cell control is controlled so that he accesses the goods stored on the shelf and / or in the container goods, while the shelf and / or container is disposed in the removal position at least partially in front of the shelf. As a result, the problems usually encountered when gripping a shelf can be avoided.

The picking system according to the invention preferably has at least one object detection device for detecting the goods stored on the shelf and / or in the container.

In one possible embodiment it is provided that the object detection device is arranged and / or can be arranged so that the detection takes place while the shelf and / or container is in the removal position.

Furthermore, it can be provided that the object detection device is arranged and / or can be arranged in a position above the shelf and / or container arranged in the removal position. In one possible embodiment, it is provided that the cell controller evaluates the data of the object recognition device and controls the gripper based on path planning.

The object detection device preferably forms a component of the picking cell.

In one possible embodiment it is provided that the object detection device is movable.

In this case, the object detection device can preferably be movable in the lateral direction and / or in the height direction along a shelf located in a picking position in order to be arranged above one of a plurality of side by side and / or stacked shelves and / or containers of the shelf whose goods are picked should.

In one possible embodiment, it is provided that, by controlling the transport system, the shelf is conveyed to one of a plurality of picking positions as a function of the position of the shelf and / or container whose goods are to be picked. In particular, this can be done depending on the position of the shelf and / or container within the shelf. In this case, the picking position can preferably be selected such that the shelf and / or container, whose goods are to be picked, is arranged in a predetermined position relative to the picking cell and / or the object detection device.

Furthermore, the order-picking system can have an order management control for processing a plurality of picking orders by activating the transport system and the picking cell.

It is preferably provided that the order management control in response to the order to be processed controls the transport system so that at least one shelf is moved to the picking position in which a goods to be picked for the order is stored, and / or Order management control the order-picking system and / or the cell control controls so that the shelf and / or container of the shelf, on and / or in which the goods to be picked for the order goods is stored, is moved from the storage position to the removal position.

Furthermore, the picking system may comprise at least one actuator for moving the shelf and / or container from the storage position to the removal position and / or from the removal position to the storage position. Preferably, the actuator is controlled by the order management control and / or cell control.

In one possible embodiment, it is provided that the actuator, which moves the shelf and / or container is formed by the gripper, which is controlled by the cell control so that it moves the shelf and / or container from the storage position to the removal position and / or that it moves the shelf and / or container from the removal position to the storage position.

In a further possible embodiment it is provided that the actuator is arranged on the shelf. The one or more actuators, through which the shelves and / or containers are movable, thus forms part of the respective shelf. In particular, each of the shelves has at least one such actuator.

Preferably, each shelf and / or container of the shelf is movable by an actuator of the shelf from the storage position to the removal position and / or from the removal position to the storage position.

In one possible embodiment, it is provided that each shelf and / or container of the shelf has its own actuator. This may be, for example, a motor, over which the shelf is movable, and / or a slide over which a container from the shelf and / or in the shelf is pushed. Furthermore, it can be provided that the shelf has an electrical energy storage, which supplies the one or more actuators with energy. The electrical energy store may in particular be a battery and / or an accumulator.

Alternatively or additionally, the shelf can be connectable to a power supply in the picking position in order to supply the actuator (s) with energy. Furthermore, it can be provided that preferably the shelf in the picking position with the cell control and / or

Order management control is connectable to control the actuator (s).

The connection to the power supply and / or control preferably takes place wirelessly and / or by means of a galvanic connection.

In a further possible embodiment it is provided that the actuator forms part of the picking cell. This has the advantage that the shelves need no or fewer actuators. The actuator is preferably arranged in the region of the picking cell such that it can be used to move at least one shelf and / or container of a shelf, which is located in a picking position.

Preferably, the actuator is preferably used for moving a plurality of shelves and / or containers of the shelf.

In one possible embodiment, it is provided that the actuator is arranged on a movable holder in order to arrange the actuator in an engaged position relative to one of the shelves and / or containers in which it can move this shelf and / or container.

Preferably, the holder in the lateral direction and / or height direction is movable to arrange the actuator in an engaged position relative to one of a plurality of juxtaposed and / or stacked shelves and / or containers of the shelf. Alternatively or additionally, it can be provided that a plurality of actuators are provided, which are each assigned to at least one of a plurality of superposed and / or juxtaposed shelves and / or containers.

Preferably, the movement of the holder is controlled by the order management control and / or cell control.

In one possible embodiment, the actuator is arranged on the side facing away from the gripper of the shelf and can move the shelf and / or container at least from the storage position to the removal position.

Alternatively, the actuator is arranged on the gripper side facing the shelf and can move the shelf and / or container at least from the removal position in the storage position.

In one possible embodiment, at least one first actuator is arranged on the side facing away from the gripper of the shelf and can move the shelf and / or container from the storage position to the removal position, and at least a second actuator on the gripper side facing the shelf and can move the shelf and / or container from the removal position to the storage position.

In one possible embodiment, the actuator can move the shelf and / or container from the storage position to the removal position and back. The actuator can be arranged on the side facing away from the gripper or the gripper facing side of the shelf.

In one possible embodiment, the actuator has a coupling mechanism for coupling to the shelf and / or container, by means of which it can exert a pulling force on the shelf and / or container. This is preferably the case when only one actuator is used to move in both directions. In one possible embodiment, the actuator is a slide, via which the shelf and / or container from the removal position in the storage position and / or from the storage position into the removal position is displaceable. In particular, the slider can identify a contact surface with which it is moved against a contact surface of the shelf and / or container to move it.

The actuator may be a linear actuator or comprise a linear actuator. In one possible embodiment, it is provided that the linear actuator has a horizontal direction of movement.

In one possible embodiment, the shelf and / or container is supported both in the storage position, as well as in the removal position by the shelf. For example, the shelf and / or container via rollers and / or rails with the shelf be slidably connected.

Alternatively, the shelf and / or container in the removal position is no longer supported by the shelf and / or is no longer in contact with the shelf.

In one possible embodiment, the picking system can work with containers which are parked in the storage position on a fixed shelf of the shelf and are moved relative to the shelf in the removal position. The containers could not be further connected to the shelf.

Preferably, the shelf on compartments, which are open at least to the side of the gripper, so that the container on the shelf are slidably displaced from the shelf. Further preferably, the compartments are also open on the side facing away from the gripper so that an actuator for moving the containers can be moved from this side into the rack.

The picking system according to the invention preferably has a storage element for supporting a shelf and / or container located in the removal position. This has the advantage that the shelf and / or container in the removal position no longer needs to be supported by the shelf and in a possible embodiment can be moved completely out of the shelf and / or no longer need to be in contact with the shelf.

This is particularly advantageous when the system works with containers which are parked in the storage position on a solid shelf of the shelf and are moved relative to the shelf in the removal position. Preferably, the container is thereby moved from the shelf to the arranged in front of the shelf storage element, in particular pushed and / or pulled, a storage surface of the storage element is preferably arranged for this purpose in the same height as the shelf.

Preferably, the storage element is part of the picking cell. The storage element is preferably arranged in the picking cell, that a shelf and / or container of a shelf, which is located in a picking position, from the storage position within the shelf on the storage element is movable to goods from and / or from the shelf and / or to remove containers,

In one possible embodiment, the storage element may have an actuator, via which the shelf and / or container is movable at least from the removal position into the storage position. In particular, the actuator may preferably be a slide, via which the shelf and / or container can be displaced from the removal position into the storage position.

In one possible embodiment, it is provided that the shelf and / or container via the actuator arranged on the storage element is also movable from the storage position within the shelf on the storage element. Alternatively, a further actuator may be provided, via which the shelf and / or container from the storage position within the shelf on the storage element is movable.

In one possible embodiment, the storage element can be used for supporting a plurality of shelves and / or containers of the shelf. Preferably, the storage element is movable to move to a storage position relative to one of the plurality of shelves and / or containers to be arranged, in which the shelf and / or container is movable on the storage element.

Preferably, the storage element in the height direction and / or lateral direction is movable to be arranged in a storage position relative to one of a plurality of stacked and / or juxtaposed shelves and / or containers of the shelf.

Furthermore, a plurality of storage elements may be provided, which are each associated with at least one of a plurality of juxtaposed shelves and / or containers. In one possible embodiment, it is provided that the storage elements can be moved independently of each other in height.

Furthermore, it can be provided that the movement of the storage element is controlled by the order management control and / or cell control.

Furthermore, it can be provided that an object detection device is connected to the Ablägeelement and preferably arranged above the storage element and / or can be moved with this.

However, the object detection device can also be arranged on the gripper and / or gripper arm, in particular on the robot arm or on the surface gantry.

The object detection device can also be arranged on a holding element, in particular a holding element which is independent of the movement of the depositing element and / or gripper arm. The holding element may have a displacement arrangement for moving the object detection device.

In one possible embodiment, it is provided that at least two shelves can be arranged simultaneously in each case in a picking position in the region of the picking cell, so that the gripper can remove goods from the shelves. Preferably, the order management control controls the transport system depending on the order to be processed so that it spends a second shelf in which the next goods to be picked is stored, in a second picking position, while picking a product from a located in a first order picking first shelf becomes. More preferably, the corresponding shelf and / or container of the second shelf is moved from the storage position to the removal position while the goods are picked from the first shelf and / or while the gripper is moving in the direction of the second order picking position.

The picking system according to the invention is preferably designed so that the goods to be picked are automated by the gripper and placed order-related in one or more order containers.

The picking system may further comprise a conveyor system for feeding and / or discharging order containers into the area of the picking cell. In one possible embodiment, it is provided that the goods to be picked are stored order-related in the order containers. Furthermore, it can be provided that the conveyor system conveys the order containers from the picking cell to a mailing section.

In one possible embodiment it is provided that the picking cell has a gripper arm on which the gripper is arranged and over which the gripper is movable. The order-picking cell can have, as a gripper arm, in particular at least one 6-axis robot on which the gripper is arranged. Alternatively, the picking cell may have at least one surface portal on which the gripper is arranged, wherein the gripper is preferably arranged on the surface portal via one or more rotational axes.

In a possible alternative embodiment, the gripper can be arranged on a gripper arm or gantry with fewer axes, for example on a 2-axis arm, 3-axis arm, 4-axis arm or 5-axis arm or a linear gantry. Preferably, in this case, one or more axes of movement of the storage element are used to arrange the goods in a position suitable for gripping. The object detection device may comprise a camera and / or a laser scanner.

In one possible embodiment, it is provided that the cell control controls the gripper so that the goods are deposited at a predetermined position and / or with a predetermined orientation in a job container.

The picking system may include an object detection device for detecting the goods in the order container. In one possible embodiment, this object detection device can be the same object detection device which is also used for detecting the goods on the shelf and / or in the container of the shelf. However, it is preferably a second object detection device. The object detection device is preferably arranged above the application container and / or can be arranged.

The present invention further includes a picking cell for a picking system as described above.

Further, the present invention includes job management control and / or cell control or software for job management control and / or cell control for a picking system as described above.

The present invention further comprises a picking method for the order-related picking of goods stored on shelves by means of a picking system, wherein the picking system comprises an automated picking cell, which has a gripper for gripping and picking the goods and a cell control for controlling the gripper, and a transport system, by which the shelves can be conveyed to at least one picking position in the region of the picking cell, wherein the shelves have shelves and / or containers, are stored on and / or in which goods. It is envisaged that at least one shelf and / or container of a arranged in the order picking shelf from a storage position within the shelf in a removal position in which it is at least partially located in front of the shelf, is transported, wherein the gripper engages the goods stored on the shelf and / or in the container , While the shelf and / or container is disposed in the removal position at least partially in front of the shelf.

The method preferably takes place as has already been described in more detail above with reference to the picking system according to the invention. In particular, the method is carried out using a picking system, as described above.

The present invention will now be described in more detail with reference to embodiments and drawings.

Showing:

Fig. V. A first embodiment of an inventive

Picking system in which the shelves of the shelves can be pulled out of the shelves,

2 shows a second embodiment of an inventive

Order picking system in which containers can be pushed out of these via actuators, which are arranged on the shelves, and in which a storage element for the containers pushed out of the shelves is provided,

3 shows a further embodiment of an inventive

Picking system in which the containers are pushed out of the shelf via an actuator of the picking cell,

Fig. 4: a further embodiment of an inventive

Picking system, in which the same actuator for pulling out and pushing in the container is used, wherein the Actuator is part of the picking cell and is arranged on a storage element,

Fig. 5 Another embodiment of an inventive

Picking system, which builds on the embodiment shown in Figure 2, and in which a plurality of shelves next to each other in the picking cell can be arranged, and

Fig. 6 shows another embodiment of an inventive

Picking system, which builds on the embodiment shown in Fig. 3 and in which a plurality of shelves next to each other in the picking cell can be arranged.

The present invention comprises a picking cell, a picking system and a picking method for picking goods stored in shelves 4, wherein the goods may in particular be articles of daily use and / or industrial goods.

The order-picking cell and / or the picking system usually represents a component of a material flow system. The material flow system may further comprise a storage system formed by a plurality of shelves, a shipping route and / or conveyor systems.

The picking system and / or the picking cell is preferably designed for the handling of goods of different sizes, different shapes and / or configurations and / or with different packaging, and therefore allows individual handling of the goods.

The first exemplary embodiment of a picking system shown in FIG. 1 shows a picking cell 1, which comprises a picking robot 2 with a gripper arranged on a gripper arm. In the exemplary embodiment, the gripper arm is the robot arm of a 6-axis robot. Alternatively, the gripper and / or gripper arm could be arranged on a surface portal. Depending on the field of application of a picking cell according to the invention, the picking robot 2 is equipped with at least one gripper in order to move the picking robot appropriate gripping requirements of the use to meet. As a gripper, for example, a suction gripper, a mechanical gripper such as a 2- or 3-finger gripper, etc. can be used.

Furthermore, the picking system has an object detection device 3, which detects at least the position and / or orientation of the goods to be picked. Preferably, the object detection device is designed such that in addition a reliable object recognition takes place with which the respective product can be identified. This can be done based on the shape, a barcode, a logo, a surface event. The object detection device 3 is preferably part of the picking cell.

The object detection unit may comprise a chamber unit. In particular, the object detection unit may comprise a 2D and / or a 3D camera. In this case, the use of multiple camera units, in particular a combination of a 2D and a 3D camera, conceivable. Furthermore, the object detection unit may comprise a laser scanner. In particular, the use of a laser triangulation is conceivable.

The picking cell further comprises a cell controller, not shown, which communicates with the object detection device 3 and the picking robot 2 via data transmission links, and determines the position and / or orientation of the detected goods from the data supplied by the object detection device, determines gripping positions and gripping paths and the robot for gripping and depositing goods. In particular, the cell control causes the picking robot to order-oriented picking of the goods, in particular in order container 6. This allows automation of the transfer of goods in order container 6. An operator is therefore no longer needed for picking. The picking cell can have an object detection device for detecting the goods deposited in a job container 6. This makes it possible to monitor the correct arrangement of the goods in the order containers 6. The object detection device is preferably arranged above an output station in which the output containers for depositing goods are arranged. The picking system according to the invention further comprises a transport system, not shown, with which shelves 4 can be conveyed from a storage system, not shown, in at least one picking position in the picking cell. It is preferably a driverless transport system, which is automatically controlled by a job management control. The advantage of using an automated order picking cell for removing the goods stored in a rack compared to manual order picking is in particular that the height of the shelf can be increased, since this is not limited by the height of a person.

Preferably, the goods are stored in containers 5, which are arranged in the shelves and are preferably on shelves 7 of the shelves 4. The containers 5 can either comprise only one type of article, or different types of articles, for example for already pre-picked containers. In one possible embodiment of the present invention, however, the goods to be picked can also be stored directly on the shelves 7. The removal of the goods from the containers or from the shelves is not possible within the shelf by means of known robots, since for reasons of collision with the shelf, the space is not sufficient so that the robot could grab the goods.

In order to circumvent this problem, the order-picking system according to the invention is designed such that the shelves 7 and / or the container 5 arranged thereon can be moved from a storage position within the shelf into a removal position in the order picking position. In this removal position, shown for example in FIG. 1 for the shelf 7 and the container arranged thereon, the shelf or container is arranged at least partially in front of the shelf. As a result, the gripper has free access to the arranged on the shelf and / or in the container goods from above. The present invention thus enables a gripping of the goods by the gripper, since there are considerably fewer interfering edges. Furthermore, the object detection is considerably simplified, since this can also be done easily from above. In possible embodiments of the present invention may the shelf and / or the container in the removal position also be arranged completely outside the shelf.

In Fig. 1 to 6 six different embodiments of such a picking system according to the invention are shown.

In all exemplary embodiments, the object detection device 3 is arranged in the region of the picking cell such that it is arranged or can be arranged above a shelf and / or container which is located in the removal position. In this case, the object detection device 3 can be moved. A method of the object detection device 3 can for example be automated, depending on which shelf and / or container is moved from a plurality of juxtaposed shelves and / or containers of a shelf in the removal position to be arranged above this shelf and / or container. Alternatively or additionally, it would also be conceivable to arrange the shelves in the region of the picking cell such that the shelf and / or container, which is to be moved out of the rack for order picking, is located in its removal position below the object detection device 3. Furthermore, the object detection device 3 may optionally be movable in the vertical direction in order to be arranged in each case at a predetermined distance above the container and / or shelf, which is located in the removal position.

The object detection device can, for example, be arranged on a separate retaining element, which preferably has a displacement arrangement for moving the object detection device. Alternatively, the

Object detection device to be arranged on the robot arm or surface portal and thus moved with the gripper. Furthermore, the object detection device, as will be described in more detail below, be arranged on a storage element of the picking cell.

In the embodiment shown in Fig. 1, the shelves 4 extendable shelves 7. The shelves are preferably connected to the shelf that they still held in the removal position through the shelf become. For example, the shelves can be mounted on rollers or rails on the shelf, and then pulled out manually or by means of an actuator.

The shelves can be conveyed mechanically, for example, by pulling and / or pressing out of the shelf. For example, it is conceivable that the gripper is used to pull the shelf from the shelf and / or push back into this. Alternatively, it is conceivable that the shelf has one or more actuators over which the shelves are moved. Preferably, these are associated with a job management system which controls the actuator (s) such that the corresponding shelf is automatically moved out of the rack, depending on the picking order, so that it is possible to remove the respective desired product.

In the embodiment shown in Fig. 1, the goods are stored in containers 5, which are arranged on the shelves 7, and therefore can be moved out of the shelves together with the shelves. Alternatively, the goods could also be stored directly on the shelf in this embodiment. The shelves could also be designed as drawers.

By contrast, the exemplary embodiments illustrated in FIGS. 2 to 6 show a picking system in which it is not the shelves but the containers 5 standing on the shelves that are pushed out of the shelf. Therefore, the embodiments each provide a storage element 8, which is arranged on the side of the gripper in front of the shelf and on which a container from the shelf can be pushed out. In the removal position of the respective container is therefore at least partially and preferably completely on the storage element 8. After removing the goods, the container can be pushed back from the storage element 8 back into the shelf.

The storage element 8 is height-adjustable via a lifting mechanism 16, so that the storage surface of the storage element can be arranged depending on the order each at a height which allows the container from which a product is to be removed next from the shelf the Slide storage element. The storage element is part of the picking cell, and is controlled by the cell control and / or the order management system so that the storage area in each case has the correct height for the next container.

The storage element 8 can also be laterally displaceable in possible embodiments, which are shown schematically in FIGS. 5 and 6. This can serve on the one hand to be moved between two shelves and / or along a shelf. For example, it is conceivable to position the storage element in one of a plurality of laterally juxtaposed positions in front of one or more shelves as a function of the container, which is to be pushed out of the shelf. Furthermore, it is conceivable that the containers are moved on the storage element in one and / or several fixed removal positions after they have been pushed out of the shelf. In particular, the containers can be moved relative to the gripper in a position in which it is easier for the gripper to remove the goods. In conceivable embodiment of the present invention, the axes of movement of the storage element can also be used to position a product disposed within the container goods relative to the gripper. As a result, the number of axes of movement of the gripper arm can be reduced.

The exemplary embodiments in FIGS. 2 to 4, which are described in more detail below, differ in particular in how the containers are moved from the rack to the removal position, i. on the storage element 8, and moved back again. The same solutions could also be used for moving shelves, as they are known from Fig. 1.

In the embodiment shown in Fig. 2, the shelf itself each have one or more actuators 9, over which the container from the shelf are pushed. In particular, these may be slides 9, which are components of the shelf 4. In this case, each container and / or shelf can be assigned a separate slider. The actuators are preferably in communication communication with the order management control, so that the correct container is pushed out of the rack, depending on the order. The shelves In this case, in the picking position, they can be connected via an energy connection to a power supply system which supplies the actuators with energy. The energy transfer can also be wireless, as well as the communication with the order management system. Alternatively or additionally, the shelves can have an electrical energy store, such as a battery and / or an accumulator, which supplies the actuators with energy.

The pushing back of the container in the shelf takes place in the embodiment shown in FIG. 2 via a further actuator 10, which is arranged on the height-adjustable part of the storage element 8 and is therefore adjusted with this in height. As a result, the actuator 10 is in each case in the correct position for moving the container. Preferably, this is also a slide.

As an alternative to the embodiment shown in FIG. 2, it would also be conceivable that the robot is controlled such that it pulls the container out of the shelf and / or pushes the container back into the shelf.

3 shows an exemplary embodiment in which an actuator belonging to the picking cell is arranged on the rear side of the shelf in order to push the containers to be picked out of the rack. The actuator is attached to a bracket 9 and height adjustable via a mechanism 16 so as to be arranged in the correct height. The height adjustment of the holder of the actuator is preferably carried out in parallel and further preferably synchronously with the height adjustment of the storage element 8. Alternatively or additionally, it would be conceivable to form a plurality of actuators at different heights as part of the cell.

As an actuator, in turn, a slide is used in the embodiment shown in FIG.

The pushing back of the container into the shelf takes place as in the embodiment shown in FIG. 2, ie via an actuator 10, which is arranged on the storage element 8. Since in the exemplary embodiment shown in FIG. 3, all actuators for moving the containers are designed as components of the picking cell, the shelves 4 can be configured conventionally. The shelves of the shelves are preferably open to the front and to the rear, so that the containers can be pushed forward out of the shelf and back into this, and from behind the outside of the shelf arranged actuators have access to the container.

In the embodiment shown in FIG. 4, unlike in the exemplary embodiment in FIG. 3, not two separate actuators arranged on different sides of the shelf are used for pushing out and pushing in the containers, but rather a multifunctional actuator, which moves both outward and forward Move in the container from or into the shelf can be used.

In the embodiment shown in Fig. 4, this multifunctional actuator is arranged on the storage element 8, and is therefore adjusted in height along with this. The actuator can both pull the containers out of the rack and push them back into them. For this purpose, it preferably has a corresponding element for coupling with the containers.

As an alternative to the embodiment shown in FIG. 4, such a multifunctional actuator could also be arranged on a holder 9, as shown in FIG. 3. It could then be dispensed with an actuator in the region of the support element 8.

In the embodiments described so far, the gripper and the object detection system 3 must be able to compensate for differences in height, due to the different height of the shelves and / or containers relative to the shelf, and yet to ensure optimal removal of the goods.

In one possible embodiment of the present invention, however, the height adjustment of the storage element could be used to the container for detecting and removing the goods in one or more defined Removal height positions to move after it has been moved to the storage element.

Alternatively or additionally, the object detection device 3 could also be fastened to the storage element 8 and adjusted in height together with it, so that the object detection device has a defined height relative to a container resting on the support element.

In the embodiments shown so far, the picking cell is designed so that only one rack can be arranged in a picking position relative to the gripper. However, the present invention is not limited to such embodiments. Rather, all of the embodiments shown so far can also be used when multiple shelves can be arranged in different picking positions at the same time in the picking cell.

In Fig. 5 and 6, two such embodiments are shown in which at least two shelves can be arranged side by side by means of the transport system in the picking cell. This offers the advantage that, for tact time reasons, the shelves or containers are moved out of the rack into a removal position, can be detected by the object detection system and made available for removal, while another item is taken from another shelf and / or placed in a job container or as the gripper moves toward the shelf. The thus prepared shelf or the container thus prepared can be picked faster by the robot.

The embodiment shown in FIG. 5 otherwise corresponds to the embodiment shown in FIG. 2, the embodiment shown in FIG. 6 otherwise corresponds to the embodiment shown in FIG. 3, so that reference is made to the above description.

In the embodiments shown in FIGS. 5 and 6, the storage element 8 and the holder 9 for the slide each have a horizontal traversing possibility, which allows, for example, as a travel rail and via which they can be moved from one shelf to the other shelf. This has the advantage that the shelves do not need a separate device.

However, it can be advantageous for reasons of cycle time optimization that the shelves each have separate storage elements and / or slides. In particular, at least two storage elements are preferably provided, so that the first storage element allows removal and the second prepares already the next container to be picked to reduce the cycle time.

Leg illustrated in Figs. 5 and 6, two shelves 4 and 13 are shown, which can be arranged in the picking cell. However, embodiments are also conceivable in which even more shelves can be arranged simultaneously in the area of the picking cell.

In a preferred embodiment of the picking cell according to the invention this allows a positionally accurate storage of goods in the order containers 6. This allows a job-accurate and accurate filling of the order container possible. In one possible embodiment, the order containers may arrive directly in the shipping.

The order-accurate and precise filling of the order container can be done by means of a database in which geometry data of the goods to be picked are deposited, and / or geometry data of the used order container. Based on this data, a precise filling of the respective order container is made possible. In particular, the position and / or orientation of the goods which are to be stored in a job container is calculated for processing an order. This data is then forwarded to the control of the picking robot 2, which stores the goods in the appropriate position and / or orientation.

The object detection device 3 and the cell control are preferably designed such that the goods can be made available unsorted in the shelves and / or in the shelves arranged containers 5.

Claims

claims

1. Picking system for order-related picking of goods stored on shelves,

with an automated picking cell, which has a gripper for gripping and picking the goods and a cell control for activating the gripper,

with a transport system, by means of which the shelves can be conveyed to at least one picking position in the area of the picking cell, the shelves having shelves and / or containers, being stored on and / or in which goods;

characterized,

in that at least one shelf and / or container of a shelf arranged in the picking position can be conveyed from a storage position within the rack to a picking position in which it is at least partially arranged in front of the rack, the gripper being controlled by the cell controller so that it the goods stored on the shelf and / or in the container accesses, while the shelf and / or container is arranged in the removal position at least partially in front of the shelf.

2. Picking system according to claim 1, with at least one object detection device for detecting the goods stored on the shelf and / or in the container goods, the object detection device is preferably arranged and / or can be arranged that the detection takes place while the shelf and / or Container is located in the removal position, wherein the object detection device is further preferably arranged in a position above the arranged in the removal position shelf and / or container and / or can be arranged.

3. Picking system according to claim 2, wherein the cell controller evaluates the data of the object recognition device and controls the gripper based on a path planning, and / or wherein the object detection device forms a part of the picking cell.

4. Picking system according to claim 2 or 3, wherein the object detection device is movable, wherein the object detection device is preferably movable in the lateral direction and / or in the height direction along a shelf located in a picking position to one of a plurality of juxtaposed and / or stacked shelves and / or containers of the shelf to be arranged whose goods are to be picked.

5. order-picking system according to one of the preceding claims, wherein by controlling the transport system, the shelf depending on the position of the shelf and / or container whose goods are to be picked, is transported in one of a plurality of picking positions, the picking preferably chosen so is that the shelf and / or container whose goods are to be picked, is arranged in a predetermined position relative to the picking cell and / or the object detection device.

6. Picking system according to one of the preceding claims, with a job management control for processing a plurality of Picking orders by controlling the transport system and the picking cell.

7. order-picking system according to claim 6, wherein the order management control in response to the order to be processed controls the transport system so that at least one shelf is moved to the picking, in which a goods to be picked for the order goods is stored, and wherein the order management control the picking system and / or controls the cell control so that the shelf and / or container of the shelf, on and / or in which the goods to be picked for the order goods is stored, is moved from the storage position to the removal position.

Picking system according to one of the preceding claims, with at least one actuator for moving the shelf and / or container from the storage position to the removal position and / or from the removal position to the storage position, wherein the actuator is preferably controlled by the order management control and / or cell control.

Picking system according to claim 8, wherein the actuator, which moves the shelf and / or container is formed by the gripper, which is controlled by the cell controller so that it moves the shelf and / or container from the storage position to the removal position and / or that it moves the shelf and / or container from the removal position to the storage position. O. Picking system according to claim 8, wherein the actuator is arranged on the shelf, wherein preferably each shelf and / or container of the shelf by an actuator of the shelf from the storage position to the removal position and / or from the removal position is movable into the storage position, preferably each shelf and / or container of the shelf has its own actuator and / or wherein preferably the shelf has an electrical energy storage, which the one or more actuators Power supplied, and / or preferably wherein the shelf in the picking position with a power supply is connectable to power the actuator (s), and / or preferably wherein the shelf in the picking position with the cell control and / or order management control is connectable to to control the actuator (s), preferably the connection to the power supply and / or control wirelessly and / or by means of a galvanic connection.

11 picking system according to claim 8, wherein the actuator forms part of the picking cell,

wherein the actuator is preferably used for moving a plurality of shelves and / or containers of the shelf, wherein the actuator is preferably arranged on a movable holder, to arrange the actuator in an engaged position relative to one of the shelves and / or containers in which he move this shelf and / or container,

wherein the holder is preferably movable in the lateral direction and / or height direction to arrange the actuator in an engaged position relative to one of a plurality of juxtaposed and / or stacked shelves and / or containers of the shelf,

and / or wherein preferably a plurality of actuators are provided, which are each assigned to at least one of a plurality of stacked and / or juxtaposed shelves and / or containers,

and / or wherein the movement of the holder is preferably controlled by the order management control and / or cell control.

12. Picking system according to one of claims 8, 10 or 11, wherein the actuator is arranged on the side facing away from the gripper of the shelf and can move the shelf and / or container at least from the storage position to the removal position, and / or wherein the actuator is arranged on the gripper-facing side of the shelf and can move the shelf and / or container at least from the removal position to the storage position,

wherein at least one first actuator is preferably arranged on the side facing away from the gripper of the shelf and can move the shelf and / or container from the storage position to the removal position, and at least a second actuator is disposed on the gripper side facing the shelf, which the Shelf and / or container can move from the removal position to the storage position,

and / or wherein at least one first actuator is arranged on the side facing away from the gripper or facing the shelf and can move the shelf and / or container from the storage position to the removal position and back, the actuator preferably a coupling mechanism for coupling to the shelf and or by means of which it can exert a pulling force on the shelf and / or container,

and / or wherein the actuator is preferably a slide over which the shelf and / or container from the removal position in the storage position and / or from the storage position is displaced into the removal position,

and / or wherein the actuator is a linear actuator or comprises a linear actuator, wherein the linear actuator preferably has a horizontal direction of movement.

Picking system according to one of the preceding claims, with a storage element for supporting a located in the removal position shelf and / or container,

wherein the storage element is preferably part of the picking cell and a shelf and / or container from the storage position within the shelf is movable on the storage element to remove goods from and / or from the shelf and / or container,

and / or wherein the storage element preferably has an actuator, via which the shelf and / or container is movable at least from the removal position to the storage position, which is preferably a slide, via which the shelf and / or container from the removal position into the storage position is displaceable, wherein the shelf and / or container is further preferably via the actuator from the storage position within the shelf on the storage element movable, or wherein preferably a further actuator is provided, via which the shelf and / or container from the storage position within the shelf is movable on the storage element,

wherein the storage element is preferably used for supporting a plurality of shelves and / or containers of the shelf, wherein the storage element is preferably movable to be arranged in a storage position relative to one of the plurality of shelves and / or containers, in which the shelf and / or container is movable on the storage element,

wherein the storage element is preferably movable in the vertical direction and / or sides to be arranged in a storage position relative to one of a plurality of stacked and / or juxtaposed shelves and / or containers of the shelf,

and / or wherein preferably a plurality of storage elements are provided, which are each assigned to at least one of a plurality of juxtaposed shelves and / or containers, wherein the storage elements are preferably independently movable in height,

and / or wherein the displacement movement of the storage element is preferably controlled by the order management control and / or cell control, and / or wherein an object detection device connected to the storage element and preferably arranged above the storage element and / or can be moved therewith

and / or wherein an object detection device is arranged on the gripper and / or gripper arm,

and / or wherein an object detection device is arranged on a holding element.

Picking system according to one of the preceding claims, wherein at least two shelves can be arranged simultaneously in each case a picking position in the picking cell, so that the gripper respectively Goods can take from the shelves, the order management control the transport system in response to the order to be processed so that it spends a second shelf in which the next goods to be picked is stored in a second picking position, while a product from a in a The first rack is located in the first order picking position located first shelf, wherein preferably the corresponding shelf and / or container of the second shelf is moved from the storage position to the removal position while the goods from the first shelf is picked and / or while the gripper in the direction of the second Picking position moves.

15. Picking system according to one of the preceding claims with a conveyor system for supplying and / or discharge of order containers in the field of picking, wherein the goods to be picked are placed order-related in the order containers, wherein the conveyor system, the order container preferably from the Picking cell transported to a dispatch route.

16. Picking system according to one of the preceding claims, wherein the picking cell has at least one 6-axis robot, on which the gripper is arranged, and / or wherein the picking cell has at least one surface portal, on which the gripper is arranged, and / or the object detection device comprises a camera and / or a laser scanner.

17. Picking system according to one of the preceding claims, wherein the cell control controls the gripper so that the goods are stored at a predetermined position and / or with a predetermined orientation in a job container, and / or with an object detection device for detecting the goods in Order container, wherein the object detection device is preferably arranged above the order container and / or can be arranged.

18. Picking cell for a picking system according to one of the preceding claims.

19. Order management control and / or cell control or software for order management control and / or cell control for a picking system according to one of the preceding claims.

20. Order-picking method for order-related picking of goods stored on shelves by means of a picking system, in particular by means of a picking system according to one of the preceding claims,

the order picking system comprising an automated picking cell having a gripper for gripping and picking the goods and a cell controller for controlling the gripper, and a transport system through which the shelves can be conveyed to at least one picking position in the picking cell area, the shelves being shelves and / or containers are stored on and / or in which goods are stored,

characterized,

in that at least one shelf and / or container of a shelf arranged in the order picking position is conveyed from a storage position within the shelf to a picking position in which it is at least partially located in front of the shelf, the grab lying on the shelf and / or in the shelf Container stocks goods, while the shelf and / or container is disposed in the removal position at least partially in front of the shelf.